Object tracking using sensor fusion within a probabilistic framework
US10160448B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 8, 2016 |
| Grant date | Dec 25, 2018 |
| Priority date | — |
| Expiry date | Nov 30, 2036 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY02T10/72
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A controller receives outputs form a plurality of sensors such as a camera, LIDAR sensor, RADAR sensor, and ultrasound sensor. Sensor outputs corresponding to an object are assigned to a tracklet. Subsequent outputs by any of the sensors corresponding to that object are also assigned to the tracklet. A trajectory of the object is calculated from the sensor outputs assigned to the tracklet, such as by means of Kalman filtering. For each sensor output assigned to the tracklet, a probability is updated, such as using a Bayesian probability update. When the probability meets a threshold condition, the object is determined to be present and an alert is generated or autonomous obstacle avoidance is performed with respect to an expected location of the object.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.